Add "Restart Mission" checkbox to "Set Current Waypoint" action#14345
Add "Restart Mission" checkbox to "Set Current Waypoint" action#14345jnomikos wants to merge 1 commit into
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Pull request overview
Adds a new “Restart Mission” guided action to let operators reset mission execution back to the first waypoint while in flight (including when the mission is paused), aligning with the UX needs discussed in #13927/#13934.
Changes:
- Extends
Vehicle::setCurrentMissionSequenceto optionally request a mission restart/reset viaMAV_CMD_DO_SET_MISSION_CURRENTparam2. - Adds a new guided action (
Restart Mission) with confirmation text and wires it into the Fly View “Additional Actions” list. - Registers a new FlyView resource (
restart-mission.svg) for the feature’s UI assets.
Reviewed changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 4 comments.
Show a summary per file
| File | Description |
|---|---|
| src/Vehicle/Vehicle.h | Updates the invokable API to accept an optional restart/reset flag. |
| src/Vehicle/Vehicle.cc | Sends the restart/reset flag as an extra MAVLink command parameter. |
| src/FlyView/GuidedActionsController.qml | Introduces the new guided action (visibility, confirmation, execution). |
| src/FlyView/FlyViewAdditionalActionsList.qml | Exposes “Restart Mission” in the additional actions panel model. |
| src/FlyView/CMakeLists.txt | Adds an SVG resource entry intended for the new action. |
| property bool showLand: _guidedActionsEnabled && _activeVehicle.supports.guidedMode && _vehicleArmed && !_activeVehicle.fixedWing && !_vehicleInLandMode | ||
| property bool showStartMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && !_vehicleFlying && _canStartMission | ||
| property bool showContinueMission: _guidedActionsEnabled && _missionAvailable && !_missionActive && _vehicleArmed && _vehicleFlying && (_currentMissionIndex < _visualItemsCount - 1) | ||
| property bool showRestartMission: _guidedActionsEnabled && _missionAvailable && _vehicleArmed && _vehicleFlying && !_fixedWingOnApproach |
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@copilot actionRestartMission basically does what actionSetWaypoint does, except it has the restart flag set to true. If we don't block actionSetWaypoint during RTL or Land, I don't see the need to hide actionRestartMission.
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Build ResultsPlatform Status
All builds passed. Pre-commit
Pre-commit hooks: 2 passed, 42 failed, 7 skipped. Test Resultslinux-coverage: 88 passed, 0 skipped Code Coverage
Artifact Sizes
Updated: 2026-05-24 19:31:05 UTC • Triggered by: Linux |
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I don't see how this works. You set the current sequence number to 1. But what if that is pointing to a takeoff item? To me this just requires manual control from the user. Manually pick the right point they want to restart from by clicking on the item. And start the mission. All this special stuff just seems doomed to failure. |
Good point. My current implementation is too error prone. I'll look into making it more similar to how the "set current waypoint" is done |
When vehicle firmware supports restarting mission, set current waypoint action now has a checkbox for "Restart Mission"
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@DonLakeFlyer I updated the implementation so that the "Restart Mission" is a checkbox option with "Set Current Waypoint" which only shows if the vehicle firmware supports I also updated the PR description above |
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Also confirmed the "Restart Mission" checkbox doesn't show on PX4 which does not support it. 👍 
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jnomikos
changed the title
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I continue to not be thrilled with all of this. It all seems like an error prone hack which should be handled by the firmware side. Why isn't this a fix in the firmware so you can move the last waypoint? Isn't this working around a vehicle side problem? |
I initially thought this was a vehicle-side issue as well, which is why my first implementation attempted to work around it. However, I did more research, and now I don't see it as a hack or workaround for a vehicle-side bug. My understanding is that this is the intended use case of MAV_CMD_DO_SET_MISSION_CURRENT. ArduPilot sets the mission state to MISSION_STATE_COMPLETE if you have reached the last waypoint. ArduPilot supports the newer MAV_CMD_DO_SET_MISSION_CURRENT command which explicitly has a "Reset Mission" flag which is intended to be set to true if you wish to go to a previous waypoint but the mission state is complete. PX4 does not currently support MAV_CMD_DO_SET_MISSION_CURRENT and uses MISSION_SET_CURRENT instead which does not have a "Reset Mission" flag and is less explicit about mission resetting. From the QGC perspective, the checkbox is simply exposing an existing capability provided by the firmware and MAVLink protocol rather than implementing custom restart behavior. That said, I am open to other ideas and hearing your thoughts on it. We don't have to expose a checkbox in the UI for this. |
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Ok, I understand now. I'll think some more about this when I get back in town. I'll be gone till start of July. |
Description
On firmware which supports
MAV_CMD_DO_SET_MISSION_CURRENT(ArduPilot), "Set Current Waypoint" command now has a checkbox to optionally "Restart Mission".To summarize, when "Restart Mission" is checked,
MAV_CMD_DO_SET_MISSION_CURRENTwill be sent with the restart param set to true which will restart the mission and any jump counters. This is useful for two cases:User flew a mission to the end which does not contain a RTL and wants to restart their mission from a previous waypoint.
User has a mission with jump counters and wishes to go to a previous waypoint and reset those counters too.
This solves the issue listed here: #13927 and was discussed in this closed PR here: #13934
Type of Change
Testing
Platforms Tested
Flight Stacks Tested
Screenshots
2026-05-08.14-03-59.mp4
2026-05-24.14-37-28.mp4
Checklist
Related Issues
#13927
By submitting this pull request, I confirm that my contribution is made under the terms of the project's dual license (Apache 2.0 and GPL v3).